ATE532152T1 - METHOD FOR ESTIMATING THE THREE-DIMENSIONAL POSE OF MIRROR OBJECTS - Google Patents

METHOD FOR ESTIMATING THE THREE-DIMENSIONAL POSE OF MIRROR OBJECTS

Info

Publication number
ATE532152T1
ATE532152T1 AT10003180T AT10003180T ATE532152T1 AT E532152 T1 ATE532152 T1 AT E532152T1 AT 10003180 T AT10003180 T AT 10003180T AT 10003180 T AT10003180 T AT 10003180T AT E532152 T1 ATE532152 T1 AT E532152T1
Authority
AT
Austria
Prior art keywords
pair
estimating
dimensional pose
pose
rough
Prior art date
Application number
AT10003180T
Other languages
German (de)
Inventor
Ju Young Chang
Original Assignee
Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Application granted granted Critical
Publication of ATE532152T1 publication Critical patent/ATE532152T1/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10141—Special mode during image acquisition
    • G06T2207/10144—Varying exposure
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30108—Industrial image inspection
    • G06T2207/30164—Workpiece; Machine component

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)

Abstract

A method estimates a 3D pose of a 3D specular object in an environment. In a preprocessing step, a set of pairs of 2D reference images are generated using a 3D model of the object, and a set of poses of the object, wherein each pair of reference images is associated with one of the poses. Then, a pair of 2D input images are acquired of the object. A rough 3D pose of the object is estimated by comparing features in the pair of 2D input images and the features in each pair of 2D reference images using a rough cost function. The rough estimate is refined using a fine cost function.
AT10003180T 2009-03-27 2010-03-25 METHOD FOR ESTIMATING THE THREE-DIMENSIONAL POSE OF MIRROR OBJECTS ATE532152T1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12/412,452 US8217961B2 (en) 2009-03-27 2009-03-27 Method for estimating 3D pose of specular objects

Publications (1)

Publication Number Publication Date
ATE532152T1 true ATE532152T1 (en) 2011-11-15

Family

ID=42269465

Family Applications (1)

Application Number Title Priority Date Filing Date
AT10003180T ATE532152T1 (en) 2009-03-27 2010-03-25 METHOD FOR ESTIMATING THE THREE-DIMENSIONAL POSE OF MIRROR OBJECTS

Country Status (4)

Country Link
US (1) US8217961B2 (en)
EP (1) EP2234064B1 (en)
JP (1) JP5484133B2 (en)
AT (1) ATE532152T1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8437537B2 (en) * 2009-03-27 2013-05-07 Mitsubishi Electric Research Laboratories, Inc. Method and system for estimating 3D pose of specular objects
JP5839971B2 (en) * 2010-12-14 2016-01-06 キヤノン株式会社 Information processing apparatus, information processing method, and program
CN103177269B (en) * 2011-12-23 2017-12-15 北京三星通信技术研究有限公司 For estimating the apparatus and method of object gesture
CA2861420A1 (en) * 2012-01-17 2013-07-25 Sunnybrook Health Sciences Centre Method for three-dimensional localization of an object from a two-dimensional medical image
US8913825B2 (en) * 2012-07-16 2014-12-16 Mitsubishi Electric Research Laboratories, Inc. Specular edge extraction using multi-flash imaging
JP5740370B2 (en) 2012-09-04 2015-06-24 株式会社東芝 Region specifying apparatus, method, and program
JP6126437B2 (en) 2013-03-29 2017-05-10 キヤノン株式会社 Image processing apparatus and image processing method
EP3115741B1 (en) * 2014-03-03 2023-05-10 Mitsubishi Electric Corporation Position measurement device and position measurement method
US10580210B2 (en) * 2015-12-16 2020-03-03 Interdigital Ce Patent Holdings Method and device for refocusing at least one plenoptic video
CN111311632B (en) * 2018-12-11 2023-12-01 深圳市优必选科技有限公司 Object pose tracking method, device and equipment
CN111127547A (en) * 2019-12-17 2020-05-08 北京迈格威科技有限公司 Positioning method, positioning device, robot and storage medium
CN112747671B (en) * 2020-12-10 2022-12-09 杭州先临天远三维检测技术有限公司 Three-dimensional detection system and three-dimensional detection method
EP4352451A1 (en) * 2021-05-20 2024-04-17 Eigen Innovations Inc. Texture mapping to polygonal models for industrial inspections
WO2024059953A1 (en) * 2022-09-23 2024-03-28 Eigen Innovations Inc. Inspection camera deployment solution

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5870486A (en) * 1991-12-11 1999-02-09 Texas Instruments Incorporated Method of inferring sensor attitude through multi-feature tracking
EP1039417B1 (en) * 1999-03-19 2006-12-20 Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. Method and device for the processing of images based on morphable models
US6975750B2 (en) * 2000-12-01 2005-12-13 Microsoft Corp. System and method for face recognition using synthesized training images
JP4573085B2 (en) * 2001-08-10 2010-11-04 日本電気株式会社 Position and orientation recognition device, position and orientation recognition method, and position and orientation recognition program
JP3962588B2 (en) * 2002-01-07 2007-08-22 キヤノン株式会社 3D image processing method, 3D image processing apparatus, 3D image processing system, and 3D image processing program
US7756325B2 (en) * 2005-06-20 2010-07-13 University Of Basel Estimating 3D shape and texture of a 3D object based on a 2D image of the 3D object
US7536030B2 (en) * 2005-11-30 2009-05-19 Microsoft Corporation Real-time Bayesian 3D pose tracking
US7844105B2 (en) * 2007-04-23 2010-11-30 Mitsubishi Electric Research Laboratories, Inc. Method and system for determining objects poses from range images
US7844106B2 (en) 2007-04-23 2010-11-30 Mitsubishi Electric Research Laboratories, Inc Method and system for determining poses of objects from range images using adaptive sampling of pose spaces
US8437537B2 (en) * 2009-03-27 2013-05-07 Mitsubishi Electric Research Laboratories, Inc. Method and system for estimating 3D pose of specular objects

Also Published As

Publication number Publication date
US8217961B2 (en) 2012-07-10
EP2234064B1 (en) 2011-11-02
EP2234064A1 (en) 2010-09-29
JP5484133B2 (en) 2014-05-07
US20100245355A1 (en) 2010-09-30
JP2010231780A (en) 2010-10-14

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